Tianwei Zhang

Shuhe Wang, Yuxian Meng, Xiaofei Sun et al.

Multi-modal dialog modeling is of growing interest. In this work, we propose frameworks to resolve a specific case of multi-modal dialog generation that better mimics multi-modal dialog generation in the real world, where each dialog turn is associated with the visual context in which it takes place. Specifically, we propose to model the mutual dependency between text-visual features, where the model not only needs to learn the probability of generating the next dialog utterance given preceding dialog utterances and visual contexts, but also the probability of predicting the visual features in which a dialog utterance takes place, leading the generated dialog utterance specific to the visual context. We observe significant performance boosts over vanilla models when the mutual dependency between text and visual features is modeled. Code is available at https://github.com/ShannonAI/OpenViDial.

Tianwei Zhang, Huayan Zhang, Yang Li et al.

Dynamic environments are challenging for visual SLAM since the moving objects occlude the static environment features and lead to wrong camera motion estimation. In this paper, we present a novel dense RGB-D SLAM solution that simultaneously accomplishes the dynamic/static segmentation and camera ego-motion estimation as well as the static background reconstructions. Our novelty is using optical flow residuals to highlight the dynamic semantics in the RGB-D point clouds and provide more accurate and efficient dynamic/static segmentation for camera tracking and background reconstruction. The dense reconstruction results on public datasets and real dynamic scenes indicate that the proposed approach achieved accurate and efficient performances in both dynamic and static environments compared to state-of-the-art approaches.